Robin Mueller
8a0999851f
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365 lines
16 KiB
C++
365 lines
16 KiB
C++
#include "P60DockHandler.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include "OBSWConfig.h"
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P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
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: GomspaceDeviceHandler(objectId, comIF, comCookie, P60Dock::MAX_CONFIGTABLE_ADDRESS,
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P60Dock::MAX_HKTABLE_ADDRESS, P60Dock::HK_TABLE_REPLY_SIZE),
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coreHk(this),
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auxHk(this) {}
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P60DockHandler::~P60DockHandler() {}
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ReturnValue_t P60DockHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = GOMSPACE::REQUEST_HK_TABLE;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
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parseHkTableReply(packet);
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/**
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* Hk table will be sent to the commander if hk table request was not triggered by the
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* P60DockHandler itself.
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*/
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handleDeviceTM(&coreHk, id, true);
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
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p60dockHkTableDataset.read();
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sif::info << "P60 Dock: ACU VCC switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value)
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<< std::endl;
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sif::info << "P60 Dock: PDU1 VCC switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value)
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<< std::endl;
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sif::info << "P60 Dock: PDU2 VCC switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value)
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<< std::endl;
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sif::info << "P60 Dock: ACU VBAT switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value)
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<< std::endl;
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sif::info << "P60 Dock: PDU1 VBAT switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value)
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<< std::endl;
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sif::info << "P60 Dock: PDU2 VBAT switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value)
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<< std::endl;
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sif::info << "P60 Dock: Stack VBAT switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value)
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<< std::endl;
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sif::info << "P60 Dock: Stack 3V3 switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value)
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<< std::endl;
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sif::info << "P60 Dock: Stack 5V switch: "
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<< static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value)
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<< std::endl;
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float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
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sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
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temperatureC = p60dockHkTableDataset.temperature2.value * 0.1;
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sif::info << "P60 Dock: Temperature 2: " << temperatureC << " °C" << std::endl;
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sif::info << "P60 Dock: Watchdog Timer seconds left before reboot: "
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<< p60dockHkTableDataset.wdtGndLeft << " seconds" << std::endl;
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sif::info << "P60 Dock: CSP 1, pings left before reboot: "
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<< (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
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sif::info << "P60 Dock: CSP 2, pings left before reboot: "
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<< (int)p60dockHkTableDataset.wdtCspLeft1.value << std::endl;
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p60dockHkTableDataset.commit();
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#endif
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}
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void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
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using namespace P60Dock;
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uint16_t dataOffset = 0;
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PoolReadGuard pg0(&coreHk);
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PoolReadGuard pg1(&auxHk);
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if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
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pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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coreHk.setValidity(false, true);
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auxHk.setValidity(false, true);
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return;
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}
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/**
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* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
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* address.
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*/
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dataOffset += 12;
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for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
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coreHk.currents[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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}
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for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
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coreHk.voltages[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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}
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for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
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coreHk.outputEnables[idx] = *(packet + dataOffset);
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dataOffset += 3;
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}
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coreHk.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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coreHk.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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auxHk.bootcause = *(packet + dataOffset) << 24 |
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*(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 |
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*(packet + dataOffset + 3);
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dataOffset += 6;
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coreHk.bootCount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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if (firstHk) {
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triggerEvent(P60_BOOT_COUNT, coreHk.bootCount.value);
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}
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dataOffset += 6;
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auxHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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dataOffset += 6;
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auxHk.resetcause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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uint8_t newBattMode = packet[dataOffset];
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if (firstHk) {
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triggerEvent(BATT_MODE, newBattMode);
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} else if (newBattMode != coreHk.battMode.value) {
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triggerEvent(BATT_MODE_CHANGED, coreHk.battMode.value, newBattMode);
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}
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coreHk.battMode = newBattMode;
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dataOffset += 3;
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auxHk.heaterOn = *(packet + dataOffset);
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/* + 13 because here begins a new gomspace csp data field */
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dataOffset += 13;
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auxHk.converter5VStatus = *(packet + dataOffset);
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dataOffset += 3;
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for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
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auxHk.latchups[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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}
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auxHk.dockVbatVoltageValue = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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auxHk.dockVccCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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coreHk.batteryCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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coreHk.batteryVoltage = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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auxHk.batteryTemperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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auxHk.batteryTemperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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for (uint8_t idx = 0; idx < NUM_DEVS; idx++) {
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auxHk.devicesType[idx] = *(packet + dataOffset);
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dataOffset += 3;
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}
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for (uint8_t idx = 0; idx < NUM_DEVS; idx++) {
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auxHk.devicesStatus[idx] = *(packet + dataOffset);
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dataOffset += 3;
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}
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auxHk.dearmStatus = *(packet + dataOffset);
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dataOffset += 3;
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auxHk.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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dataOffset += 6;
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auxHk.wdtCntI2c = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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dataOffset += 6;
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auxHk.wdtCntCan = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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dataOffset += 6;
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auxHk.wdtCntCsp1 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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dataOffset += 6;
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auxHk.wdtCntCsp2 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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dataOffset += 6;
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auxHk.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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dataOffset += 6;
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auxHk.wdtI2cLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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dataOffset += 6;
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auxHk.wdtCanLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
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*(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
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/* +16 because here begins a new gomspace csp packet */
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dataOffset += 16;
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auxHk.wdtCspLeft1 = *(packet + dataOffset);
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dataOffset += 3;
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auxHk.wdtCspLeft2 = *(packet + dataOffset);
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dataOffset += 3;
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auxHk.batteryChargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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auxHk.batteryDischargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
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dataOffset += 4;
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auxHk.ant6Depl = *(packet + dataOffset);
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dataOffset += 3;
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auxHk.ar6Depl = *(packet + dataOffset);
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if (firstHk) {
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firstHk = false;
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}
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coreHk.setValidity(true, true);
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auxHk.setValidity(true, true);
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}
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ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) {
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using namespace P60System;
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localDataPoolMap.emplace(pool::P60_CURRENTS, &hkCurrents);
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localDataPoolMap.emplace(pool::P60_VOLTAGES, &hkVoltages);
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localDataPoolMap.emplace(pool::P60_OUTPUT_ENABLE, &outputEnables);
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localDataPoolMap.emplace(pool::P60DOCK_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_TEMPERATURE_2, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BOOT_CAUSE, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BOOT_CNT, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_UPTIME, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_RESETCAUSE, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BATT_MODE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_HEATER_ON, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_CONV_5V_ENABLE_STATUS, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(pool::LATCHUPS, &latchups);
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localDataPoolMap.emplace(pool::P60DOCK_DOCK_VBAT, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_DOCK_VCC_CURRENT, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BATTERY_CURRENT, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BATTERY_VOLTAGE, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BATTERY_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BATTERY_TEMPERATURE_2, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::DEVICES_TYPE, &devicesType);
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localDataPoolMap.emplace(pool::DEVICES_STATUS, &devicesStatus);
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localDataPoolMap.emplace(pool::P60DOCK_DEARM_STATUS, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CSP_1, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CSP_2, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_CSP_LEFT_1, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_WDT_CSP_LEFT_2, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BATT_CHARGE_CURRENT, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_BATT_DISCHARGE_CURRENT, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>({0}));
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localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>({0}));
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poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, false);
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poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
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ReturnValue_t result = RETURN_OK;
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switch (cmd) {
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case (GOMSPACE::PRINT_SWITCH_V_I): {
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PoolReadGuard pg0(&coreHk);
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PoolReadGuard pg1(&auxHk);
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if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
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pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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break;
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}
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printHkTableSwitchIV();
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return HasReturnvaluesIF::RETURN_OK;
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}
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case (GOMSPACE::PRINT_LATCHUPS): {
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PoolReadGuard pg(&auxHk);
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result = pg.getReadResult();
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printHkTableLatchups();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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break;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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sif::warning << "Reading P60 Dock HK table failed" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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void P60DockHandler::printHkTableSwitchIV() {
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using namespace P60Dock;
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sif::info << "P60 Dock Info:" << std::endl;
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sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
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<< coreHk.bootCount << std::endl;
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sif::info << "Reset Cause: " << auxHk.resetcause
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<< " | Battery Mode: " << static_cast<int>(coreHk.battMode.value) << std::endl;
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sif::info << "SwitchState, Currents [mA], Voltages [mV]:" << std::endl;
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sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Dock VBAT VCC" << std::dec
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<< "| -, " << std::setw(4) << std::right << auxHk.dockVccCurrent << ", " << std::setw(5)
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<< auxHk.dockVbatVoltageValue << std::endl;
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sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "BATT" << std::dec << "| -, "
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<< std::setw(4) << std::right << coreHk.batteryCurrent.value << ", " << std::setw(5)
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<< coreHk.batteryVoltage.value << std::endl;
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auto genericPrintoutHandler = [&](std::string name, uint8_t idx) {
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sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << name << std::dec << "| "
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<< unsigned(coreHk.outputEnables[idx]) << ", " << std::setw(4) << std::right
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<< coreHk.currents[idx] << ", " << std::setw(5) << coreHk.voltages[idx] << std::endl;
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};
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genericPrintoutHandler("ACU VCC", hk::ACU_VCC);
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genericPrintoutHandler("ACU VBAT", hk::ACU_VBAT);
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genericPrintoutHandler("PDU1 VCC", hk::PDU1_VCC);
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genericPrintoutHandler("PDU1 VBAT", hk::PDU1_VBAT);
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genericPrintoutHandler("PDU2 VCC", hk::PDU2_VCC);
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genericPrintoutHandler("PDU2 VBAT", hk::PDU2_VBAT);
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genericPrintoutHandler("Stack VBAT", hk::STACK_VBAT);
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genericPrintoutHandler("Stack 3V3", hk::STACK_3V3);
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genericPrintoutHandler("Stack 5V", hk::STACK_5V);
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}
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LocalPoolDataSetBase *P60DockHandler::getDataSetHandle(sid_t sid) {
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if (sid == coreHk.getSid()) {
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return &coreHk;
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} else if (sid == auxHk.getSid()) {
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return &auxHk;
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}
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return nullptr;
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}
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void P60DockHandler::printHkTableLatchups() {
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using namespace P60Dock;
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sif::info << "P60 Latchup Information" << std::endl;
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auto genericPrintoutHandler = [&](std::string name, uint8_t idx) {
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sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << name << std::dec << "| "
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<< std::setw(4) << std::right << auxHk.latchups[idx] << std::endl;
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};
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genericPrintoutHandler("ACU VCC", hk::ACU_VCC);
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genericPrintoutHandler("ACU VBAT", hk::ACU_VBAT);
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genericPrintoutHandler("PDU1 VCC", hk::PDU1_VCC);
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genericPrintoutHandler("PDU1 VBAT", hk::PDU1_VBAT);
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genericPrintoutHandler("PDU2 VCC", hk::PDU2_VCC);
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genericPrintoutHandler("PDU2 VBAT", hk::PDU2_VBAT);
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genericPrintoutHandler("STACK VBAT", hk::STACK_VBAT);
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genericPrintoutHandler("STACK 3V3", hk::STACK_3V3);
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genericPrintoutHandler("STACK 5V", hk::STACK_5V);
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genericPrintoutHandler("GS 3V3", hk::GS3V3);
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genericPrintoutHandler("GS 5V", hk::GS5V);
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genericPrintoutHandler("X3 VBAT", hk::X3_IDLE_VBAT);
|
|
genericPrintoutHandler("X3 VCC", hk::X3_IDLE_VCC);
|
|
}
|